Controller

KR Current

Access rights: Profi
Description: Proportional share of the current controller. With current limit control, this value indicates the proportional share for the current limit control.
Data: (Float)

TN Current

Access rights: Profi
Description: Integral share of the current controller. Not required for current limit control.
Data: (Float)

KR Speed

Access rights: Profi
Description: Proportional share of the velocity controller
Data: (Float)

TN Speed

Access rights: Profi
Description: Integral share of the velocity controller
Data: (Float)

KR Position

Access rights: Profi
Description: Proportional share of the position controller
Data: (Float)

Delta Position

Access rights: Profi
Description: Position window in which the position control is interrupted (depending on brake configuration), the control remains on, the brake is applied and the system signals that the position is reached).
Data: (4 bytes) Configured in the preset unit system.

Structure

Access rights: Profi
Description: Design of the controller circuit.

• Current Speed (0x00)
  Current and velocity control are independent of each other.
• Cascade (0x01)
  Position, velocity and current control are cascading => current-controlled position and velocity movements are possible (set current is not exceeded) (e.g. no need for pre-positioning for gripping). In this mode, the preset current (,,SET TARGET CURRENT'') is not exceeded during all positioning movements.
• Current Speed Limit (0x02)
  Current control is not activated. During velocity and positioning movements, the preset current (,,SET TARGET CURRENT'') is limited. In contrast to the cascade structure, the current is not controlled, but only limited (current limit control).
• PWM Speed Limit (0x02)
  Current control is not activated. During velocity and positioning movements, the sensing ratio of the PWMs is limited. The ratio between current and sensing ratio is determined from the resistance of the motor.

  As the sensing ratio of the PWMs is limited directly (voltage limit), the drive system might be unable to reach its maximum velocity. As a result, positioning movements might take much longer than anticipated.

  
  
  

Data: (3 bits) 0 .. 7

If changes are made to the controller structure, it might be necessary to adjust the controller parameters!